import launch
import launch_ros

def generate_launch_description():
    action_static_tf_broadcaster = launch_ros.actions.Node(
        package='demo_python_tf',
        executable='static_tf_broadcaster',
        name='static_tf_broadcaster',
        output='screen',
    )
    action_dynamic_tf_broadcaster = launch_ros.actions.Node(
        package='demo_python_tf',
        executable='dynamic_tf_broadcaster',
        name='dynamic_tf_broadcaster',
        output='screen',
    )
    
    action_output = launch.actions.LogInfo(msg='坐标发布成功........')
    
    action_group = launch.actions.GroupAction([
        launch.actions.TimerAction(period=1.0, actions=[action_static_tf_broadcaster]),
        launch.actions.TimerAction(period=5.0, actions=[action_dynamic_tf_broadcaster]),
        launch.actions.TimerAction(period=5.0, actions=[action_output]),
    ])

    return launch.LaunchDescription([
       action_group
    ])